Kinetic release

[nlyubova]

could we release it for Jade and Kinetic?

[mikaelarguedas]

Now that moveit has been released in Kinetic we could start porting these packages indeed. Only blocker so far: both jade an kinetic are using Gazebo5+ and roboticsgroup_gazebo_plugins are using gazebo2 API so won't compile against gazebo5 and more recent.

Right now Nao is not stable in gazebo on kinetic (once removed every dependency on roboticsgroup_gazebo_plugins). I'll release these once this is fixed

[blackvitriol]

Thank you for this information. Awaiting kinetic release, patiently. drowns in pending research anxiety

[mikaelarguedas]

I don't know when I'll have time to work on this. Maybe @nlyubova will be able to look into it in the foreseeable future?

[gortium]

+1 would like a kinetic release too ^^

[blackvitriol]

Miss Lyubova, can you please state which kind of dependencies are not supported by Kinetic. I have to find a way around it.

[mikaelarguedas]

the dependency that was not supported is roboticsgroup_gazebo_plugins. It should now be building against gazebo7 thanks to the updated API from this PR. From what I remember there were some weird physics behaviour (robot floating around instead of falling etc). I didn't have time to look at it since then, so if you find what is causing this weird behavior we would be very happy to review and merge the appropriate fix.

[blackvitriol]

What about apt-get install ros-kinetic-nao-gazebo-plugin ?

[mikaelarguedas]

What about apt-get install ros-kinetic-nao-gazebo-plugin ?

Yes that is the command you will be able to run once the package is released. But the simulation needs to be working properly before the release is made.

Did you try building from source ? Can you reproduce the strange behaviour of the robot floating around?

[blackvitriol]

Did you try building from source ? Can you reproduce the strange behaviour of the robot floating around?

Sorry I am not there yet, I plan on doing this now and to debug all problems by myself. Any help/ input is appreciated.

[gortium]

The floating robot is due to the position joint controller/hardware interfaces as spoken there: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/479

We need to use positionPID or velocity interface. So change in the nao_description and nao_control are needed. To be compatible with real NAOs there is possibly some changes in naoqi too as it does not support velocity control of the joints! That could help on that: https://community.ald.softbankrobotics.com/en/forum/visual-servoing-nao-using-ros-12212

[anja-sheppard]

Is there any update on getting a kinetic release?

[ahmedius2]

I compiled Gazebo 7.0.0 from source by modifying the code using this commit and the floating nao problem is gone now. I don't know if it is a good solution but I can run the simulation in kinetic. Thanks to @gortium .

[mikaelarguedas]

thanks @ahmedius2 for the info! It looks like this commit never got merged and released into gazebo7. I see another Pull Request allegedly addressing the same issue here. This one has been merged into Gazebo9 but hasn't been backported to gazebo7 (likely because it breaks API). As ROS Kinetic and Lunar are using gazebo7 from Ubuntu, we will need a solution that works with that version.

Apparently vincetrou found a workaround in setting PID values explicitly (https://github.com/ros-simulation/gazebo_ros_pkgs/issues/479#issuecomment-319610133). Maybe this would be a good alternative to try here?

[hayday100]

@ahmedius2 Could you provide details on how to get Virtual NAO to work in Kinetic? Thanks in advance!

[leyongloh]

my solution: git clone -b gazebo7 https://github.com/pal-robotics/pal_gazebo_plugins.git and follow the step from readme to run the simulation You might encounter some error. For example, -missing dependencies: ddynamic-reconfigure -apt-get install ros-kinetic-ddynamic-reconfigure